#include "can.h"
#include "sys.h"
#include "platform.h"

static xQueueHandle can1_recv_queue = NULL;

/*
//CAN初始化
//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq
//tbs2:时间段2的时间单元.   范围:CAN_BS2_1tq~CAN_BS2_8tq;
//tbs1:时间段1的时间单元.   范围:CAN_BS1_1tq ~CAN_BS1_16tq
//brp :波特率分频器.范围:1~1024; tq=(brp)*tpclk1
//波特率=Fpclk1/((tbs1+1+tbs2+1+1)*brp);
//mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式;
//Fpclk1的时钟在初始化的时候设置为42M,如果设置CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_LoopBack);
//则波特率为:42M/((6+7+1)*6)=500Kbps  42M/((6+7+1)*24)=125k
//返回值:0,初始化OK;
//其他,初始化失败; 
*/

static void CAN1_Mode_Init(uint8_t tsjw,uint8_t tbs2,uint8_t tbs1,uint16_t brp,uint8_t mode)
{
    GPIO_InitTypeDef GPIO_InitStructure; 
    CAN_InitTypeDef        CAN_InitStructure;
    CAN_FilterInitTypeDef  CAN_FilterInitStructure;

    //使能相关时钟
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);//使能PORTA时钟

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟

    //初始化GPIO
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0| GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
    GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化PA11,PA12

    //初始化控制脚s pd15
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
    GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化PA11,PA12
    
    //引脚复用映射配置
    GPIO_PinAFConfig(GPIOD,GPIO_PinSource0,GPIO_AF_CAN1); //GPIOA11复用为CAN1
    GPIO_PinAFConfig(GPIOD,GPIO_PinSource1,GPIO_AF_CAN1); //GPIOA12复用为CAN1

    //CAN单元设置
    CAN_InitStructure.CAN_TTCM=DISABLE;	//非时间触发通信模式   
    CAN_InitStructure.CAN_ABOM=DISABLE;	//软件自动离线管理	  
    CAN_InitStructure.CAN_AWUM=DISABLE;//睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
    CAN_InitStructure.CAN_NART=ENABLE;	//禁止报文自动传送 
    CAN_InitStructure.CAN_RFLM=DISABLE;	//报文不锁定,新的覆盖旧的  
    CAN_InitStructure.CAN_TXFP=DISABLE;	//优先级由报文标识符决定 
    CAN_InitStructure.CAN_Mode= mode;	 //模式设置 
    CAN_InitStructure.CAN_SJW=tsjw;	//重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
    CAN_InitStructure.CAN_BS1=tbs1; //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
    CAN_InitStructure.CAN_BS2=tbs2;//Tbs2范围CAN_BS2_1tq ~	CAN_BS2_8tq
    CAN_InitStructure.CAN_Prescaler=brp;  //分频系数(Fdiv)为brp+1	
    CAN_Init(CAN1, &CAN_InitStructure);   // 初始化CAN1 

    //配置过滤器
    CAN_FilterInitStructure.CAN_FilterNumber=0;	  //过滤器0
    CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位 
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
    CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
    CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化


    CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0);  /* 清除挂起中断 */
    CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.
}   

//中断服务函数	
void CAN1_RX0_IRQHandler(void)
{
    struct CanMsgRx recv;
    uint32_t i = 0;
    portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
    CanRxMsg msg;
    
    CAN_Receive(CAN1, CAN_FIFO0, &msg);
    if ((msg.RTR == CAN_RTR_DATA) && msg.IDE == CAN_ID_EXT){
        recv.id = msg.ExtId;
        recv.len = msg.DLC;
        //printf("extid:%x dlc:%x ", msg.ExtId, msg.DLC);
        for(i = 0; i < recv.len; i++){
            recv.data[i] = msg.Data[i];
            //printf("%02x", msg.Data[i]);
        }   
        //printf("\r\n");
        xQueueSendFromISR(can1_recv_queue, &recv, &xHigherPriorityTaskWoken);
    }    
}

//can发送一组数据(固定格式:ID为0X12,标准帧,数据帧)	
//len:数据长度(最大为8)				     
//msg:数据指针,最大为8个字节.
//返回值:0,成功;
//		 其他,失败;
void can1_send_msg(uint32_t id, const uint8_t *msg, uint32_t len)
{	
  uint8_t mbox;
  uint16_t i=0;
  CanTxMsg TxMessage;
  TxMessage.StdId = 0u;	                // 标准标识符为0
  TxMessage.ExtId = id;	                // 设置扩展标示符（29位）
  TxMessage.IDE = CAN_ID_EXT;		    // 使用扩展标识符
  TxMessage.RTR = CAN_RTR_DATA;		    // 消息类型为数据帧，一帧8位
  TxMessage.DLC=len;                    // 发送两帧信息

  for(i=0;i<len;i++){
    TxMessage.Data[i]=msg[i];           // 第一帧信息  
  }      
  mbox= CAN_Transmit(CAN1, &TxMessage);   
  i=0;
  while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF)){
      i++;	//等待发送结束
  }
}
//can口接收数据查询
//buf:数据缓存区;	 
//返回值:0,无数据被收到;
//		 其他,接收的数据长度;
int32_t can1_rec_msg(struct CanMsgRx *msg)
{
    if( xQueueReceive(can1_recv_queue, msg, portMAX_DELAY) == pdPASS){
        return 1;
    }
    return 0;
}

//CAN工作模式;0,普通模式;1,环回模式
int32_t can1_init(void){
    can1_recv_queue = xQueueCreate(30, sizeof(struct CanMsgRx));
    if (can1_recv_queue == NULL){
        return -1;
    }
    CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,24,CAN_Mode_Normal);//CAN初始化环回模式,波特率125Kbps    
    return 0;
}












